--- /dev/null
+/*
+ * Copyright Droids Corporation (2011)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: commands_gen.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+#include <aversive/queue.h>
+
+#include <uart.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include <diagnostic.h>
+
+#include "callout.h"
+#include "main.h"
+#include "cmdline.h"
+
+/**********************************************************/
+/* Reset */
+
+/* this structure is filled when cmd_reset is parsed successfully */
+struct cmd_reset_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_reset is parsed successfully */
+static void cmd_reset_parsed(void * parsed_result, void * data)
+{
+ (void)parsed_result;
+ (void)data;
+#ifdef HOST_VERSION
+ hostsim_exit();
+#endif
+ reset();
+}
+
+const char PROGMEM str_reset_arg0[] = "reset";
+const parse_token_string_t PROGMEM cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
+
+const char PROGMEM help_reset[] = "Reset the board";
+const parse_inst_t PROGMEM cmd_reset = {
+ .f = cmd_reset_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_reset,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_reset_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Bootloader */
+
+/* this structure is filled when cmd_bootloader is parsed successfully */
+struct cmd_bootloader_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_bootloader is parsed successfully */
+static void cmd_bootloader_parsed(void *parsed_result, void *data)
+{
+ (void)parsed_result;
+ (void)data;
+#ifndef HOST_VERSION
+ bootloader();
+#else
+ printf("not implemented\n");
+#endif
+}
+
+const char PROGMEM str_bootloader_arg0[] = "bootloader";
+const parse_token_string_t PROGMEM cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_bootloader_result, arg0, str_bootloader_arg0);
+
+const char PROGMEM help_bootloader[] = "Launch the bootloader";
+const parse_inst_t PROGMEM cmd_bootloader = {
+ .f = cmd_bootloader_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_bootloader,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_bootloader_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Callout show */
+
+/* this structure is filled when cmd_callout is parsed successfully */
+struct cmd_callout_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_callout is parsed successfully */
+static void cmd_callout_parsed(void *parsed_result, void *data)
+{
+ (void)parsed_result;
+ (void)data;
+ callout_dump_stats(&imuboard.intr_cm);
+}
+
+const char PROGMEM str_callout_arg0[] = "callout";
+const parse_token_string_t PROGMEM cmd_callout_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_callout_result, arg0, str_callout_arg0);
+const char PROGMEM str_callout_arg1[] = "show";
+const parse_token_string_t PROGMEM cmd_callout_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_callout_result, arg1, str_callout_arg1);
+
+const char PROGMEM help_callout[] = "Show callout events";
+const parse_inst_t PROGMEM cmd_callout = {
+ .f = cmd_callout_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_callout,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_callout_arg0,
+ (PGM_P)&cmd_callout_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Log */
+
+/* this structure is filled when cmd_log is parsed successfully */
+struct cmd_log_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t arg2;
+ fixed_string_t arg3;
+};
+
+/* keep it sync with string choice */
+static const char PROGMEM uart_log[] = "uart";
+static const char PROGMEM i2c_log[] = "i2c";
+static const char PROGMEM default_log[] = "default";
+static const char PROGMEM xbee_log[] = "xbee";
+static const char PROGMEM rc_proto_log[] = "rc_proto";
+
+struct log_name_and_num {
+ const char *name;
+ uint8_t num;
+};
+
+static const struct log_name_and_num log_name_and_num[] = {
+ { uart_log, E_UART },
+ { i2c_log, E_I2C },
+ { default_log, E_USER_DEFAULT },
+ { xbee_log, E_USER_XBEE },
+ { rc_proto_log, E_USER_RC_PROTO },
+};
+
+static uint8_t
+log_name2num(const char * s)
+{
+ uint8_t i;
+
+ for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
+ if (!strcmp_P(s, log_name_and_num[i].name)) {
+ return log_name_and_num[i].num;
+ }
+ }
+ return 0;
+}
+
+const char *
+log_num2name(uint8_t num)
+{
+ uint8_t i;
+
+ for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
+ if (num == log_name_and_num[i].num) {
+ return log_name_and_num[i].name;
+ }
+ }
+ return NULL;
+}
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_do_show(void)
+{
+ uint8_t i, empty=1;
+ const char *name;
+
+ printf_P(PSTR("log level is %d\r\n"), imuboard.log_level);
+ for (i=0; i<NB_LOGS; i++) {
+ name = log_num2name(imuboard.logs[i]);
+ if (name) {
+#ifdef HOST_VERSION
+ printf_P(PSTR("log type %s is on\r\n"), name);
+#else
+ printf_P(PSTR("log type %S is on\r\n"), name);
+#endif
+ empty = 0;
+ }
+ }
+ if (empty)
+ printf_P(PSTR("no log configured\r\n"));
+}
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_parsed(void * parsed_result, void *data)
+{
+ struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
+
+ (void)data;
+ if (!strcmp_P(res->arg1, PSTR("level"))) {
+ imuboard.log_level = res->arg2;
+ }
+
+ /* else it is a show */
+ cmd_log_do_show();
+}
+
+const char PROGMEM str_log_arg0[] = "log";
+const parse_token_string_t PROGMEM cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg0, str_log_arg0);
+const char PROGMEM str_log_arg1[] = "level";
+const parse_token_string_t PROGMEM cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1);
+const parse_token_num_t PROGMEM cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_log_result, arg2, INT8);
+
+const char PROGMEM help_log[] = "Set log options: level (0 -> 5)";
+const parse_inst_t PROGMEM cmd_log = {
+ .f = cmd_log_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_log_arg0,
+ (PGM_P)&cmd_log_arg1,
+ (PGM_P)&cmd_log_arg2,
+ NULL,
+ },
+};
+
+const char PROGMEM str_log_arg1_show[] = "show";
+const parse_token_string_t PROGMEM cmd_log_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1_show);
+
+const char PROGMEM help_log_show[] = "Show configured logs";
+const parse_inst_t PROGMEM cmd_log_show = {
+ .f = cmd_log_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log_show,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_log_arg0,
+ (PGM_P)&cmd_log_arg1_show,
+ NULL,
+ },
+};
+
+/* this structure is filled when cmd_log is parsed successfully */
+struct cmd_log_type_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+ fixed_string_t arg3;
+};
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_type_parsed(void * parsed_result, void *data)
+{
+ struct cmd_log_type_result *res = (struct cmd_log_type_result *) parsed_result;
+ uint8_t lognum;
+ uint8_t i;
+
+ (void)data;
+
+ lognum = log_name2num(res->arg2);
+ if (lognum == 0) {
+ printf_P(PSTR("Cannot find log num\r\n"));
+ return;
+ }
+
+ if (!strcmp_P(res->arg3, PSTR("on"))) {
+ for (i=0; i<NB_LOGS; i++) {
+ if (imuboard.logs[i] == lognum) {
+ printf_P(PSTR("Already on\r\n"));
+ return;
+ }
+ }
+ for (i=0; i<NB_LOGS; i++) {
+ if (imuboard.logs[i] == 0) {
+ imuboard.logs[i] = lognum;
+ break;
+ }
+ }
+ if (i==NB_LOGS) {
+ printf_P(PSTR("no more room\r\n"));
+ }
+ }
+ else if (!strcmp_P(res->arg3, PSTR("off"))) {
+ for (i=0; i<NB_LOGS; i++) {
+ if (imuboard.logs[i] == lognum) {
+ imuboard.logs[i] = 0;
+ break;
+ }
+ }
+ if (i==NB_LOGS) {
+ printf_P(PSTR("already off\r\n"));
+ }
+ }
+ cmd_log_do_show();
+}
+
+const char PROGMEM str_log_arg1_type[] = "type";
+const parse_token_string_t PROGMEM cmd_log_arg1_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg1, str_log_arg1_type);
+/* keep it sync with log_name_and_num above */
+const char PROGMEM str_log_arg2_type[] =
+ "uart#i2c#i2cproto#default#xbee#rc_proto";
+const parse_token_string_t PROGMEM cmd_log_arg2_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg2, str_log_arg2_type);
+const char PROGMEM str_log_arg3[] = "on#off";
+const parse_token_string_t PROGMEM cmd_log_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg3, str_log_arg3);
+
+const char PROGMEM help_log_type[] = "Set log type";
+const parse_inst_t PROGMEM cmd_log_type = {
+ .f = cmd_log_type_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log_type,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_log_arg0,
+ (PGM_P)&cmd_log_arg1_type,
+ (PGM_P)&cmd_log_arg2_type,
+ (PGM_P)&cmd_log_arg3,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Stack_Space */
+
+/* this structure is filled when cmd_stack_space is parsed successfully */
+struct cmd_stack_space_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_stack_space is parsed successfully */
+static void cmd_stack_space_parsed(void *parsed_result, void *data)
+{
+ (void)parsed_result;
+ (void)data;
+#ifdef HOST_VERSION
+ printf("not implemented\n");
+#else
+ printf("res stack: %d\r\n", min_stack_space_available());
+#endif
+}
+
+const char PROGMEM str_stack_space_arg0[] = "stack_space";
+const parse_token_string_t PROGMEM cmd_stack_space_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_stack_space_result, arg0, str_stack_space_arg0);
+
+const char PROGMEM help_stack_space[] = "Display remaining stack space";
+const parse_inst_t PROGMEM cmd_stack_space = {
+ .f = cmd_stack_space_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_stack_space,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_stack_space_arg0,
+ NULL,
+ },
+};
git.droids-corp.org / protos / imu.git / blobdiff